File syn_canopen.h¶

File List > proto > syn_canopen.h
#ifndef SYN_CANOPEN_H
#define SYN_CANOPEN_H

#if __has_include("syn_config.h")
#include "syn_config.h"
#endif

#if !defined(SYN_USE_CANOPEN) || SYN_USE_CANOPEN

#include "../common/syn_defs.h"
#include "../drivers/syn_can.h"

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define SYN_CANOPEN_NMT_CMD_START 0x01U      
#define SYN_CANOPEN_NMT_CMD_STOP 0x02U       
#define SYN_CANOPEN_NMT_CMD_PREOP 0x80U      
#define SYN_CANOPEN_NMT_CMD_RESET_NODE 0x81U 
#define SYN_CANOPEN_NMT_CMD_RESET_COMM 0x82U 
#define SYN_CANOPEN_NMT_STATE_BOOTUP 0x00U      
#define SYN_CANOPEN_NMT_STATE_STOPPED 0x04U     
#define SYN_CANOPEN_NMT_STATE_OPERATIONAL 0x05U 
#define SYN_CANOPEN_NMT_STATE_PREOP 0x7FU       
#define SYN_CANOPEN_SDO_ABORT_NONE 0x00000000UL               
#define SYN_CANOPEN_SDO_ABORT_TOGGLE_BIT 0x05030000UL         
#define SYN_CANOPEN_SDO_ABORT_UNSUPPORTED_ACCESS 0x06010000UL 
#define SYN_CANOPEN_SDO_ABORT_WRITE_ONLY 0x06010001UL 
#define SYN_CANOPEN_SDO_ABORT_READ_ONLY 0x06010002UL  
#define SYN_CANOPEN_SDO_ABORT_NOT_EXIST 0x06020000UL  
#define SYN_CANOPEN_SDO_ABORT_TYPE_MISMATCH               \
    0x06070010UL 
#define SYN_CANOPEN_SDO_ABORT_SUBINDEX_NOT_EXIST 0x06090011UL 
#define SYN_CANOPEN_ACCESS_RO 0x01U 
#define SYN_CANOPEN_ACCESS_WO 0x02U 
#define SYN_CANOPEN_ACCESS_RW 0x03U 
#define SYN_CANOPEN_TYPE_I8 0x02U  
#define SYN_CANOPEN_TYPE_I16 0x03U 
#define SYN_CANOPEN_TYPE_I32 0x04U 
#define SYN_CANOPEN_TYPE_U8 0x05U  
#define SYN_CANOPEN_TYPE_U16 0x06U 
#define SYN_CANOPEN_TYPE_U32 0x07U 
typedef struct {
    uint16_t index;   
    uint8_t subindex; 
    uint8_t type;     
    uint8_t access;   
    void *data_ptr;   
    size_t size;      
} SYN_CANOpenODEntry;

typedef struct {
    uint16_t cob_id;     
    uint16_t od_index;   
    uint8_t od_subindex; 
    uint8_t enabled;     
} SYN_CANOpenPDOMap;

typedef struct {
    uint8_t node_id;           
    uint16_t heartbeat_ms;     
    SYN_CANOpenPDOMap rpdo[4]; 
    SYN_CANOpenPDOMap tpdo[4]; 
} SYN_CANOpenNodeConfig;

typedef enum {
    SYN_CANOPEN_SDO_IDLE = 0,
    SYN_CANOPEN_SDO_SEG_DOWNLOAD,
    SYN_CANOPEN_SDO_SEG_UPLOAD,
} SYN_CANOpenSDOState;

typedef struct {
    SYN_CANOpenSDOState state;
    uint16_t index;
    uint8_t subindex;
    uint8_t toggle;
    size_t total_bytes;
    size_t transferred_bytes;
} SYN_CANOpenSDOSession;

typedef struct {
    uint8_t node_id;                    
    uint8_t nmt_state;                  
    uint16_t heartbeat_timer_ms;        
    SYN_CANOpenNodeConfig cfg;          
    const SYN_CANOpenODEntry *od_table; 
    size_t od_count;                    
    SYN_CANOpenSDOSession sdo_session;  
    uint32_t tx_cob_id;                 
    uint8_t tx_data[8];                 
    uint8_t tx_len;                     
    bool tx_pending;                    
} SYN_CANOpenNode;

SYN_Status syn_canopen_init(SYN_CANOpenNode *node, const SYN_CANOpenNodeConfig *cfg,
                            const SYN_CANOpenODEntry *od_table, size_t od_count);

SYN_Status syn_canopen_process_rx(SYN_CANOpenNode *node, uint32_t cob_id, const uint8_t *data,
                                  uint8_t len);

SYN_Status syn_canopen_update(SYN_CANOpenNode *node, uint32_t dt_ms);

SYN_Status syn_canopen_send_emcy(SYN_CANOpenNode *node, uint16_t err_code, uint8_t err_reg);

SYN_Status syn_canopen_od_read(SYN_CANOpenNode *node, uint16_t index, uint8_t subindex, void *buf,
                               size_t buf_size, size_t *out_len);

SYN_Status syn_canopen_od_write(SYN_CANOpenNode *node, uint16_t index, uint8_t subindex,
                                const void *data, size_t len);

bool syn_canopen_get_tx(SYN_CANOpenNode *node, uint32_t *out_cob_id, uint8_t *out_data,
                        uint8_t *out_len);

SYN_Status syn_canopen_tpdo_trigger(SYN_CANOpenNode *node, uint8_t pdo_num);

#ifdef __cplusplus
}
#endif

#endif /* SYN_USE_CANOPEN */

#endif /* SYN_CANOPEN_H */